mavlink: new args to request message, omit param1

We can omit param1 because it is already used for the message_id, so
it's basically duplicate information and won't get used anywhere.

src/modules/mavlink/mavlink_receiver.cpp

@@ -430,7 +430,11 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 		get_message_interval((int)roundf(cmd_mavlink.param1));
 
 	} else if (cmd_mavlink.command == MAV_CMD_REQUEST_MESSAGE) {
-		result = handle_request_message_command(vehicle_command);
+
+		uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
+		result = handle_request_message_command(message_id,
+							vehicle_command.param2, vehicle_command.param3, vehicle_command.param4,
+							vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
 
 	} else if (cmd_mavlink.command == MAV_CMD_SET_CAMERA_ZOOM) {
 		struct actuator_controls_s actuator_controls = {};
@@ -494,17 +498,16 @@ void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const
 	}
 }
 
-uint8_t MavlinkReceiver::handle_request_message_command(const vehicle_command_s &vehicle_command)
+uint8_t MavlinkReceiver::handle_request_message_command(uint16_t message_id, float param2, float param3, float param4,
+		float param5, float param6, float param7)
 {
-	uint16_t message_id = (uint16_t)roundf(vehicle_command.param1);
 	bool stream_found = false;
 
 	uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
 
 	for (const auto stream : _mavlink->get_streams()) {
 		if (stream->get_id() == message_id) {
-			stream_found = stream->request_message(vehicle_command.param1, vehicle_command.param2, vehicle_command.param3,
+			stream_found = stream->request_message(param2, param3, param4, param5, param6, param7);
-							       vehicle_command.param4, vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
 			break;
 		}
 	}
@@ -516,8 +519,7 @@ uint8_t MavlinkReceiver::handle_request_message_command(const vehicle_command_s
 			result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
 
 		} else {
-			bool message_sent = stream->request_message(vehicle_command.param1, vehicle_command.param2, vehicle_command.param3,
+			bool message_sent = stream->request_message(param2, param3, param4, param5, param6, param7);
-					    vehicle_command.param4, vehicle_command.param5, vehicle_command.param6, vehicle_command.param7);
 
 			if (!message_sent) {
 				result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;

src/modules/mavlink/mavlink_receiver.h

@@ -129,7 +129,9 @@ private:
 	void handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
 					 const vehicle_command_s &vehicle_command);
 
-	uint8_t handle_request_message_command(const vehicle_command_s &vehicle_command);
+	uint8_t handle_request_message_command(uint16_t message_id, float param2 = 0.0f, float param3 = 0.0f,
+					       float param4 = 0.0f,
+					       float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
 
 	void handle_message(mavlink_message_t *msg);
 

src/modules/mavlink/mavlink_stream.h

@@ -96,7 +96,7 @@ public:
 	 * This function is called in response to a MAV_CMD_REQUEST_MESSAGE command. The default implementation is to
 	 * just reset the counter to immediately send one message.
 	 */
-	virtual bool request_message(float param1 = 0.0, float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
+	virtual bool request_message(float param2 = 0.0, float param3 = 0.0, float param4 = 0.0,
 				     float param5 = 0.0, float param6 = 0.0, float param7 = 0.0)
 	{
 		reset_last_sent();

src/modules/mavlink/streams/autopilot_version.h

@@ -36,7 +36,7 @@ public:
 		return MAVLINK_MSG_ID_AUTOPILOT_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
-	bool request_message(float param1, float param2, float param3, float param4,
+	bool request_message(float param2, float param3, float param4,
 			     float param5, float param6, float param7) override
 	{
 		return send(hrt_absolute_time());

src/modules/mavlink/streams/flight_information.h

@@ -38,7 +38,7 @@ public:
 		return MAVLINK_MSG_ID_FLIGHT_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
-	bool request_message(float param1, float param2, float param3, float param4,
+	bool request_message(float param2, float param3, float param4,
 			     float param5, float param6, float param7) override
 	{
 		return send(hrt_absolute_time());

src/modules/mavlink/streams/protocol_version.h

@@ -36,7 +36,7 @@ public:
 		return MAVLINK_MSG_ID_PROTOCOL_VERSION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
-	bool request_message(float param1, float param2, float param3, float param4,
+	bool request_message(float param2, float param3, float param4,
 			     float param5, float param6, float param7) override
 	{
 		return send(hrt_absolute_time());

src/modules/mavlink/streams/storage_information.h

@@ -45,7 +45,7 @@ public:
 		return MAVLINK_MSG_ID_STORAGE_INFORMATION_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES;
 	}
 
-	bool request_message(float param1, float param2, float param3, float param4,
+	bool request_message(float param2, float param3, float param4,
 			     float param5, float param6, float param7) override
 	{
 		storage_id = (int)roundf(param2);